Rotating and pivoting magnet for magnetic navigation

ABSTRACT

A magnet assembly comprising a magnet mounted for pivoting about a first axis spaced from the magnet, and rotating about a second axis that is perpendicular to and intersects with the first axis. The magnet comprising a plurality of segments each with a magnetization direction such that through a combination of pivoting and rotating the magnet projects a magnetic field in any direction at an operating point spaced from the front of the assembly. The segmented construction with segments of different magnetization directions allows small changes in the orientation of the magnet to substantially change the magnet field direction at a system operating point.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.10/056,227, filed Jan. 23, 2002, now U.S. Pat. No. 6,975,197, issuedDec. 13, 2005, the entire disclosure of which is incorporated herein byreference.

FIELD OF THE INVENTION

This invention relates to magnet medical procedures, and in particularto a magnet useful in navigating magnetic medical devices in the body.

BACKGROUND OF THE INVENTION

Electromagnets and permanent magnets have been developed for movingmagnet medical devices in the body. Some magnets used in medicalapplications apply a gradient to pull magnet medical devices within thebody. Other magnets used in medical applications simply apply a magneticfield in a selected direction to align magnetic medical devices in theselected direction. Still other magnets apply both a magnetic field anda magnetic gradient to simultaneously orient and move a magnetic medicaldevice.

There are a number of important competing design considerations formagnets used in medical procedures. First and foremost is providingsufficient field strength or gradient to orient or move the magneticdevice. Electromagnets and in particular superconducting electromagnetscan create strong magnet fields and gradients, but they are expensive toconstruct and operate. Until recently, it was difficult to construct apermanent magnet that could provide a sufficiently strong anduniversally directed magnetic field and gradient at a distancesufficiently far from the magnet to be useful in medical procedures.Recently, a focused permanent magnet has been developed which can createuseful magnet fields at sufficient distances from the magnet to beemployed in magnet surgery. The magnet is comprised of a plurality ofsegments each magnetized in a direction to contribute to the desiredmagnetic property, for example field strength at an operating pointspaced in front of a magnet. This magnet and its method of design aredisclosed in co-pending, co-owned, U.S. patent application Ser. No.09/546,840, filed Apr. 11, 2000, U.S. patent application Ser. No.09/497,467, filed Feb. 3, 2000, the disclosures of which areincorporated herein by reference. This magnet has other usefulproperties in that field direction could be changed by a simpletranslation of the magnet. However, these magnets still had relativelylarge exclusion zones to accommodate the movement of the magnet. Thelarge exclusion zone made access to the patient, and positioning ofother medical equipment (particularly imaging equipment) in theprocedure room difficult. Thus a second design criteria is to minimizethe exclusion zone, to provide greater access to the patient for medicalstaff and equipment.

A third design criteria is to minimize the degrees of freedom of magnetmotion to provide a universally directed magnetic field. The fewerdegrees of freedom of magnet motion needed, the simpler the navigation,and the less expensive the apparatus for moving the magnet.

SUMMARY OF THE INVENTION

The present invention relates to a magnet, and to a magnet system thatis capable of generating useful magnet fields in virtually anydirection, at distances from the magnet sufficient to conduct medicalprocedures in the patient's body. The magnet is designed so that amagnetic field can be generated in virtually any direction with aminimum amount of movement so that the exclusion zone—the zone fromwhich the patient and other medical equipment and personnel cannot belocated—or the inclusion zone—the zone that the magnet occupies—isminimized.

Generally the magnet of the present invention comprises a plurality ofmagnet segments each magnetized in direction to optimize the magneticfield at an operating point spaced from the magnet. The magnet isadapted to pivot about a first axis spaced behind the magnet, and torotate about a generally horizontal axis. Through a combination ofpivoting and rotating the magnet can project a magnetic field at theoperating point in virtually any direction of sufficient strength to beuseful. The shape of the magnet is determined to minimize the inclusionzone, which in the preferred embodiment is a horizontal cylinder, with abeveled edge on the forward face.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a front elevation view of a magnet constructed according tothe principles of this invention;

FIG. 1B is a right side elevation view of the magnet;

FIG. 1C is a top plan view thereof;

FIG. 1D is a front perspective view thereof;

FIG. 1E is a rear perspective view thereof;

FIG. 2A is a perspective view of a support for pivoting and rotating amagnet in accordance with the principles of this invention, with themagnet in a first position;

FIG. 2B is a perspective view of a support for pivoting and rotating amagnet in accordance with the principles of this invention, with themagnet pivoted to a second position;

FIG. 3A is a perspective view of a housing containing the magnet andsupport;

FIG. 3B is a front elevation view of the housing;

FIG. 3C is a right side elevation view of the housing;

FIG. 3D is a top plan view of the housing;

FIG. 4A is a perspective view of one quadrant of a magnet block, withseveral surfaces of equal contribution (represented in wire frame)superposed thereon;

FIG. 4B is a top plan view of one quadrant of a magnet block withseveral surfaces of equal contribution;

FIG. 4C is a right side elevation view of one quadrant of a magnet blockwith several surfaces of equal contribution;

FIG. 4D is a rear elevation view of one quadrant of a magnet block withseveral surface of equal contribution.

FIG. 5 is a perspective view of the inclusion volume of a magnetconstructed according to the principles of this invention, showing themagnet generally centered within the inclusion volume;

FIG. 6 is a front elevation view of the exclusion volume with the magnetin its centered position;

FIG. 7 is a right side elevation view of the exclusion volume with themagnet in its centered position;

FIG. 8 is a top plan view of the exclusion volume with the magnet in itscentered position;

FIG. 9 is a perspective view of the inclusion volume, with the magnetpivoted to the left about the z axis;

FIG. 10 is front elevation view of the inclusion volume of the magnet,with the magnet pivoted to the left;

FIG. 11 is a right side elevation view of the inclusion volume, with themagnet pivoted to the left;

FIG. 12 is a top plan view of the inclusion volume, with the magnetpivoted to the left;

FIG. 13 is a top plan view of a magnet constructed according to theprinciples of this invention, showing the local magnetic fielddirections in the space surrounding the magnet;

FIG. 14 is a horizontal cross sectional view of one half of a magnetconstructed according to the principles of this invention (the otherhalf being a mirror image thereof), showing the magnetization directionsof the segments comprising the magnet, and the local field directionssurrounding the magnet and lines of constant magnetic field strength;

FIG. 15 is a graph of maximum coning angle versus distance from themagnet;

FIG. 16 is a perspective view of a magnetic surgery system incorporatinga magnet constructed according to the principles of this invention; and

FIG. 17 is a perspective view of a magnetic surgery system incorporatingtwo magnets constructed according to the principles of this invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

A magnet constructed according to the principles of this invention isindicated generally as 20 in FIGS. 1A through 1E. The magnet 20comprises a generally cylindrical front face 22 and a back face 24.There are left top face 26 and a right top face 28, and a left bottomface 30 and a right bottom face 32. The magnet 20 preferably comprises aplurality of parallel bands or segments of permanent magnetic materialextending from top to bottom. The magnetization direction of eachsegment is preferably selected to generally optimize the magnet field ata magnet operating point spaced from the center of the front face of themagnet. This magnet operating point is a design criteria of the magnet.For applications where a magnet field is to be applied relatively closeto the magnet, such a neurology applications, the magnet operating pointmay be selected closer to the surface of the magnet, for applicationswhere a magnetic field is to be applied relatively far from the magnet,such as cardiac applications, the magnet operating point may be selectedfurther from the surface of the magnet. In this preferred, embodimentthe magnet operating point is 13 inches from the center of the frontface of the magnet. This represents a reasonable compromise to provide amagnet useful for both neurology and cardiac applications. Of course,the magnet could be optimized for some other operating point closer toor further from the front face of the magnet.

The magnet 20 is preferably mounted for pivoting about a first axis A1,generally parallel to the vertical axis of the magnet. As shown in FIGS.2A and 2B, upper and lower arms 34 and 36 project from the back surface24 of the magnet 20. A cylindrical post 38 extends between the arms 34and 36, and is journaled in a sleeve 40. The magnet is preferably alsomounted for rotation about a second axis A2, that is generallyhorizontal, and that is perpendicular to, and intersects with, axis A1.As shown in FIGS. 2A and 2B, a sleeve 42 extends perpendicularly tosleeve 40, and is journaled around a horizontal arbor 44. Of course anyother mechanism for mounting the magnet 20 to pivot about a first axis,and rotate about a second axis, and in particular to pivot about a firstaxis that rotates about a second axis can be used. In the preferredembodiment the axis A1 is fifteen inches from the front face of themagnet 20.

A housing 50 for containing the magnet and structure for pivoting androtating the magnet is shown in FIGS. 3A through 3D. The housing 50contains the magnet and mechanism so that it is isolated from theprocedure. Furthermore, the housing 50 eliminates moving parts from theprocedure site, so that the system is less intimidating to the patients,and does not present any hazard to anyone at the procedure site. Thehousing 50 accommodates the inclusion zone of the magnet 20.

As described above, the magnet 20 is adapted to pivot about an axis A1generally behind the magnet. The radius of curvature of the generallycylindrical front face 22 corresponds to the distance between the frontface and the pivot axis (15 inches in this preferred embodiment). Theback face of the magnet is shaped in accordance with a surface ofconstant contribution to the magnetic field at the operating point.Material on such a surface contributes equally to the magnetic field atthe operating point, regardless of its position on the surface. Byselecting the appropriate surface of constant contribution to achievethe desired magnet size and strength, an excluding material that wouldlie beyond the surface, the weight of the magnet can be optimized forits selected magnetic properties. A constant contribution force can becalculated or plotted by maximizing the contribution to a particularmagnet property at the magnet's operating point, for example thetransfer field at the magnet's operating point, and determining thesurface of points that contribute equally to the selected magneticproperty. The superposition of several such surfaces of constantcontribution is shown in FIGS. 4A through 4D. As shown in FIGS. 4A to4D, various surfaces of constant contribution S₁, S₂, S₃, S₄, S₅, andS₆, are shown, and the final shape of back side of the magnet isdetermined based upon the constant contribution surface that leavessufficient magnetic material to achieve the desired field strength,gradient, or field gradient product, while keeping the weight low. It isdesirable to keep the weight of the final magnet low both to conservemagnetic material, which can be expensive, and to reduce the structuralrequirements for the supporting mechanism for the magnet. Because oflimitations of manufacturing magnets with smooth continuously curvedsurfaces, the actual shape of the back surface may only approximate theshape of the constant contribution surface. In the preferred embodiment,the magnet is capable of producing a field of at least about 0.4 T at anapplication point at least 13 inches from the surface of the magnet, orabout 0.1 T at an application point of 7.5 inches from the surface ofthe magnet, yet weights less than about 500 pounds.

An important design criteria for the magnet 20 is its inclusion volume,which represents the combination of all of the volumes that the magnetoccupies throughout all of the desired possible orientations of themagnet, i.e., all of the desired pivots and rotations. The inclusionvolume of a magnet constructed according to the principles of thisinvention is shown in FIGS. 5 through 8, with the magnet in a firstposition within its exclusion zone, and in FIGS. 9 through 12 with themagnet 20 in a second position within its exclusion zone, pivoted 35°,which because of the design of the magnet described above, results in amagnetic field direction shift of 90° at the system's operation point.The system's operation point is a design element, and in this preferredembodiment is thirteen inches from the center of the front face of theinclusion volume, which corresponds to thirteen inches from the centerof the front face of the housing 50. The magnet's operation point andthe system's operation point correspond when the magnet 20 is in itscentered position in its exclusion zone. In the preferred embodiment thepivot point is 15 inches behind the front face of the magnet, and 28inches (15 plus 13 inches) behind the operating point. As shown anddescribed in the Figures, the pivot point is generally horizontal, andextends through the pivot axis. In this preferred embodiment, theinclusion volume is generally cylindrical, with a beveled forward edge.The inclusion volume has a diameter of about 30 inches and a depth ofabout 14 inches. The bevel on the forward face of the volume is atapproximately 45°, to a depth of about 5 inches, so that the diameter ofthe generally circular front face is about 20 inches. The edge of themagnet 20 is shaped so that the magnet 20 remains within the exclusionvolume.

Two magnets 20 can be mounted in opposition, so that their magneticfields add, to provide a useful magnetic field at greater distances, forexample to conduct cardiac procedures in the chest, where theapplication point of the magnetic field is necessarily far away from themagnet.

As shown in FIG. 13, when the magnet 20 is in its centered position, itproduces a transverse magnetic field at an operating point at the frontof the magnet assembly. Rotation of the magnet 20 approximately 35°clockwise about an axis parallel to the longitudinal axes of themagnetic segments results in a magnetic field at the operating point atthe front of the magnet assembly to point outwardly, away from themagnetic assembly, and rotation of the magnet approximately 35°counterclockwise about that axis results in a magnetic field at theoperating point at the front of the magnet assembly to point inwardly,into the magnetic assembly. Thus over the span of a mere 70° ofpivoting, the magnetic field direction changes 180°. This pivoting,combined with rotation of the magnet about the second axis, allows themagnet to create a magnetic field in any direction at the operatingpoint of the assembly, through a simple pivoting and rotation of themagnet, without translation. Thus the inclusion volume of the magnet canbe made very small, which means that exclusion volume is small, andaccess to the patient by health care professionals and medical equipmentis not impaired.

While it is possible with the magnet assembly of the present inventionto project a field at the application point in any direction, atsufficient strength to be useful, it may not always be possible to movesmoothly and continuously from one magnetic field direction to anotherin the plane containing both directions. Thus when changing the fieldfrom a first direction to the second direction, it is possible that afield direction will temporarily swing out of the plane—a phenomenonknown as coning. However, amount of coning depends upon the distancefrom the magnet, and as shown in FIG. 14, the maximum coning is slightlymore than 14° from the desired plane, and occurs at distances of aboutsix inches from the magnet. At a distance of 12 inches from the magnet,the maximum coning is about 12.75°.

A magnetic surgery system incorporating a magnet system constructedaccording to the principles of the present invention is indicatedgenerally as 100 in FIG. 16. The system 100 includes a magnet 20 and itssupport and moving structure contained within a housing 50. The system100 is particularly adapted for conduct neurological procedures, and thehousing is positioned to be near the patient's head, in this case at thetop of the patient's head. The system 100 includes a patient support,such a patient bed 102, which may or may not be movable. A C-arm 104mounts bi-planar imaging equipment for making bi-planar images of theprocedure site, and displaying them on the displays 106. The bi-planarimage equipment includes an imaging beam sources, such as x-ray sources108, and imaging beam receivers or detectors, such as amorphous siliconlast plates 110, which are substantially unaffected by the presence ofmagnetic fields. The magnet 20 inside the housing 50 can be used tonavigate a magnetic medical device in the patients head by pivoting themagnet about axis A1 and rotating the magnet about axis A2 to achievethe desired magnetic field to orient a magnetic medical device insidethe patient's head. The bi-planar imaging allows the physician and otherhealth care workers to monitor the orientation and position of themagnetic medical device to navigate the distal end of the magneticmedical device to its desired destination. While the magnet assembly isdesigned to apply a magnet field at the systems' operating point, which,as described above is a point thirteen inches from the front face of thehousing 50, the system preferably allows the application of a magneticfield in virtually any direction in sufficient strength for navigationpurposes, e.g. 0.1 T, anywhere in 7 inch diameter cylinder surroundingthe line from the center of the front face of the housing to thesystem's operating point.

A magnetic surgery system incorporating two magnet systems constructedaccording to the principles of the present invention is indicatedgenerally as 200 in FIG. 17. The system 200 includes two magnets 20 andtheir respective support and moving structures, each contained within ahousing 50. The housings 50 are disposed on opposite sides of thepatients, so that the operating points of each magnet system overlap sothat the magnetic fields produced by the two systems are additive. Thesystem 200 is particularly adapted for cardiac procedures, and thehousings 50 are positioned on opposite sides of the patient's chest. Thesystem 200 includes a patient support, such a patient bed 202, which mayor may not be movable. A C-arm 204 mounts bi-planar imaging equipmentfor making bi-planar images of the procedure site, and displaying themon the displays 206. The bi-planar image equipment includes an imagingbeam sources, such as x-ray sources 208, and imaging beam receivers ordetectors, such as amorphous silicon last plates 210, which aresubstantially unaffected by the presence of magnetic fields. The magnets20 inside the housing 50 can be used to navigate a magnetic medicaldevice in the patient's head by pivoting the magnet about axis A1 androtating the magnet about axis A2 to achieve the desired magnetic fieldto orient a magnetic medical device inside the patient's head. Thebi-planar imaging allows the physician and other health care workers tomonitor the orientation and position of the magnetic medical device tonavigate the distal end of the magnetic medical device to its desireddestination. While the magnet assembly is designed to apply a magnetfield at the systems' operating point, which, as described above is apoint thirteen inches from the front face of the housing 50, the systempreferably allows the application of a magnetic field in virtually anydirection in sufficient strength for navigation purposes, e.g. 0.04 T,anywhere in 7 inch diameter circle thirteen inches from the front faceof the housing.

1.-10. (canceled)
 11. A method of making a magnet assembly that generates a magnetic field which is optimized at a predetermined operating point spaced from the center of the magnet, comprising: providing a plurality of segments of permanent magnet material configured to be arranged in a parallel manner to form a magnet assembly; forming a radius of curvature on the top face of each of the plurality of segments, such that the segments when assembled form a generally curved top surface having a radius of curvature that corresponds to the distance between the top face and an intended pivot axis of the assembled magnet; forming a generally curved back face of each of the plurality of segments, such that the segments when assembled form a shape in accordance with at least one select surface of constant contribution to the predetermined operating point, such that the segments of permanent magnet material will each contribute to the magnetic field generated at the predetermined operating point spaced from the center of the assembled magnet.
 12. The magnet assembly of claim 1 wherein the magnetization direction of each of the plurality of magnets is preferably selected to generally optimize the magnetic field at the magnet operating point spaced from the center of the magnet assembly.
 13. The magnet assembly of claim 1 wherein the at least one select surface of constant contribution is that which provides sufficient permanent magnetic material for the assembled segments to achieve the desired field strength and field gradient product, and excludes permanent magnet material beyond the surface to keep the weight of the magnet assembly low.
 14. The magnet assembly of claim 1, wherein the back side of the plurality of segments forming the magnet assembly comprises a supposition of one or more surfaces of constant contribution.
 15. The magnet assembly of claim 1 wherein the generated magnetic field is at least 0.4 Tesla at an application point at least 13 inches from the top surface of the magnet assembly, or at least 0.1 Tesla at an application point 7.5 inches from the top surface of the magnet assembly.
 16. The magnet assembly of claim 1 wherein the predetermined operating point is in the range of two to 15 inches from the top face of the assembled magnet assembly.
 17. The magnet assembly of claim 1 wherein the intended pivot axis is approximately 15 inches from the top face of the assembled magnet assembly.
 18. The magnet assembly of claim 1 wherein the plurality of segments comprise a plurality of parallel bands.
 19. The magnet assembly of claim 1, wherein the permanent magnet material of any segment along the back surface contributes equally to the magnetic field at the operating point.
 20. The magnet assembly of claim 1, wherein the back side of the plurality of segments forming the magnet assembly comprises a supposition of one or more surfaces of constant contribution.
 21. A method of making a magnet assembly that generates a magnetic field which is optimized at a predetermined operating point spaced from the center of the magnet, comprising: providing a plurality of segments of permanent magnet material that extend from top to bottom of a magnet assembly that is formed when the segments are arranged in a parallel manner; forming a radius of curvature on the top face of each of the plurality of segments, such that the segments when assembled form a generally curved top surface having a radius of curvature that corresponds to the distance between the top face and an intended pivot axis of the assembled magnet; forming a generally curved back face of each of the plurality of segments, such that the segments when assembled form a shape in accordance with at least one select surface of constant contribution to the predetermined operating point, such that the segments of permanent magnet material will each contribute to the magnetic field generated at the predetermined operating point spaced from the center of the assembled magnet; and assembling the plurality of segments to form the magnet assembly.
 22. The magnet assembly of claim 11 wherein the magnetization direction of each of the plurality of magnets is preferably selected to generally optimize the magnetic field at the magnet operating point spaced from the center of the magnet assembly.
 23. The magnet assembly of claim 11 wherein the at least one select surface of constant contribution is that which provides sufficient permanent magnetic material for the assembled segments to achieve the desired field strength and field gradient product, and excludes permanent magnet material beyond the surface to keep the weight of the magnet assembly low.
 24. The magnet assembly of claim 11, wherein the back side of the plurality of segments forming the magnet assembly comprises a supposition of one or more surfaces of constant contribution.
 25. The magnet assembly of claim 11 wherein the generated magnetic field is at least 0.4 Tesla at an application point at least 13 inches from the top surface of the magnet assembly, or at least 0.1 Tesla at an application point 7.5 inches from the top surface of the magnet assembly.
 26. The magnet assembly of claim 11 wherein the predetermined operating point is in the range of two to 15 inches from the top face of the assembled magnet assembly.
 27. The magnet assembly of claim 11 wherein the intended pivot axis is approximately 15 inches from the top face of the assembled magnet assembly.
 28. The magnet assembly of claim 11 wherein the plurality of segments comprise a plurality of parallel bands.
 29. The magnet assembly of claim 11, wherein the permanent magnet material of any segment along the back surface contributes equally to the magnetic field at the operating point.
 30. The magnet assembly of claim 11, wherein the back side of the plurality of segments forming the magnet assembly comprises a supposition of one or more surfaces of constant contribution. 